Note that these launch files do not include sensor data processing, an implementation of which can be found in tabletop_object_perception. Launch files combining manipulation (as contained here) and perception can be found in pr2_tabletop_manipulation_launch. Once started, the manipulation pipeline is ready to serve requests for tasks such as object pickup and placing.

PR2 Gripper Hand Description

This package also contains configuration files with the description of a PR2 arm equipped with a gripper as needed by the manipulation pipeline. The format of an arm/hand description is documented in the object_manipulator page. Here is an example of such a configuration file: